FastCaMo-Synth is built upon the Replica dataset [1]} which collects 18 highly photo-realistic 3D indoor scene reconstructions. Each scene is represented by a dense mesh with high-resolution textures; some of them contain planar mirror and glass reflectors. We select 10 room-scale scenes out of the collection. For each scene, we create a camera trajectory through manually selecting a serial of key-frame poses and chaining them into a smooth motion trajectory using pose interpolation similar to [2]}. Along the trajectory, we generate an RGB-D sequence by sampling frames according to camera moving speed and rendering RGB and depth images based on the camera poses. We control the linear speed of the camera to vary in \([1, 4]\)  m/s and the angular speed in \([0.9, 2.2]\)  rad/s. For RGB image, we utilize the renderer provided by the dataset [1]}. Depth maps are rendered using the dense mesh. We also synthesize motion blur effect for each RGB image and depth noise for each depth map using the same method as in [4]}.
